Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AutoTune: NFC whitespace, ordering and add trailing comma to enumeration

Browse Source
This commit is contained in:
Peter Barker 2024-06-25 14:14:07 +10:00 committed by Peter Barker
parent 396bca359d
commit 0ee787325a
3 changed files with 14 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -197,7 +197,7 @@ protected:
enum StepType { enum StepType {
WAITING_FOR_LEVEL = 0, // autotune is waiting for vehicle to return to level before beginning the next twitch WAITING_FOR_LEVEL = 0, // autotune is waiting for vehicle to return to level before beginning the next twitch
TESTING = 1, // autotune has begun a test and is watching the resulting vehicle movement TESTING = 1, // autotune has begun a test and is watching the resulting vehicle movement
UPDATE_GAINS = 2 // autotune has completed a test and is updating the gains based on the results UPDATE_GAINS = 2, // autotune has completed a test and is updating the gains based on the results
}; };
// mini steps performed while in Tuning mode, Testing step // mini steps performed while in Tuning mode, Testing step
@ -272,13 +272,13 @@ protected:
int8_t counter; // counter for tuning gains int8_t counter; // counter for tuning gains
float target_rate; // target rate-multi only float target_rate; // target rate-multi only
float target_angle; // target angle-multi only float target_angle; // target angle-multi only
float start_rate; // start rate - parent and multi
float start_angle; // start angle float start_angle; // start angle
float start_rate; // start rate - parent and multi
float rate_max; // maximum rate variable - parent and multi float rate_max; // maximum rate variable - parent and multi
float test_accel_max; // maximum acceleration variable float test_accel_max; // maximum acceleration variable
float step_scaler; // scaler to reduce maximum target step - parent and multi
float angle_finish; // Angle that test is aborted- parent and multi float angle_finish; // Angle that test is aborted- parent and multi
float desired_yaw_cd; // yaw heading during tune - parent and Tradheli float desired_yaw_cd; // yaw heading during tune - parent and Tradheli
float step_scaler; // scaler to reduce maximum target step - parent and multi
LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second

16
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
View File

@ -1189,17 +1189,17 @@ void AC_AutoTune_Multi::twitch_test_init()
float target_max_rate; float target_max_rate;
switch (axis) { switch (axis) {
case ROLL: { case ROLL: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler * AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll()) * 100.0, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, target_angle_min_rp_cd(), target_angle_max_rp_cd()); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll()) * 100.0, target_angle_min_rp_cd(), target_angle_max_rp_cd());
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f); rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz() * 2.0);
break; break;
} }
case PITCH: { case PITCH: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler * AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch()) * 100.0, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, target_angle_min_rp_cd(), target_angle_max_rp_cd()); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch()) * 100.0, target_angle_min_rp_cd(), target_angle_max_rp_cd());
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f); rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz() * 2.0);
break; break;
} }
case YAW: case YAW:

6
libraries/AC_AutoTune/AC_AutoTune_Multi.h
View File

@ -182,9 +182,9 @@ private:
void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const; void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const;
// parameters // parameters
AP_Int8 axis_bitmask; // axes to be tuned AP_Int8 axis_bitmask; // axes to be tuned
AP_Float aggressiveness; // aircraft response aggressiveness to be tuned AP_Float aggressiveness; // aircraft response aggressiveness to be tuned
AP_Float min_d; // minimum rate d gain allowed during tuning AP_Float min_d; // minimum rate d gain allowed during tuning
}; };
#endif // AC_AUTOTUNE_ENABLED #endif // AC_AUTOTUNE_ENABLED